CN107065931A - A kind of unmanned plane landing control device and method - Google Patents
A kind of unmanned plane landing control device and method Download PDFInfo
- Publication number
- CN107065931A CN107065931A CN201710427892.7A CN201710427892A CN107065931A CN 107065931 A CN107065931 A CN 107065931A CN 201710427892 A CN201710427892 A CN 201710427892A CN 107065931 A CN107065931 A CN 107065931A
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned plane
- bar
- processor
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned plane landing control device and method, the device includes unmanned aerial vehicle body, foot stool and foot stool transmission device, processor is provided with the unmanned aerial vehicle body, control module, range finder module, power module and alarm module, the processor, control module, range finder module and alarm module are electrically connected with power module, the control module is electrically connected with range finder module and alarm module, the processor and control module electrical connection, the foot stool includes support bar and the bar that contacts to earth, the foot stool transmission device includes motor, this invention make unmanned plane can out-of-flatness ground meet an urgent need landing, suitable for complicated terrain environment, improve the security of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane construction applications, more particularly to a kind of unmanned plane landing control device and method.
Background technology
In recent years, with the development and the reduction of hardware cost of electronic technology, unmanned plane product shows unprecedented
Development, is widely used in the multiple fields such as military affairs, electric power, public security, mapping, agricultural, is applied not only to war monitoring and police tracking
Positioning, be additionally operable to consumption take photo by plane, electric inspection process, mapping and agricultural plant protection, have broad application prospects.
Some special statuss can be sometimes run into unmanned plane during flying operation process needs landing, and current unmanned plane is general
It can only land on smooth ground, however, jump area face is uneven under some handling situations, for the ground of out-of-flatness
Landing need to rely on people and carry out straighforward operation, it is desirable to which operating personnel have high flight level, it is also desirable to spend the time to seek
Levelling whole landing place, it is impossible to arbitrarily landed, otherwise can cause rollover etc. to damage because of landing shakiness.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of unmanned plane landing control device and method, existing to solve
Above-mentioned multinomial defect caused by technology.
To achieve the above object, the present invention provides following technical scheme：A kind of unmanned plane landing control device, including nothing
Processor, control module, range finder module, power supply are provided with man-machine fuselage, foot stool and foot stool transmission device, the unmanned aerial vehicle body
Module and alarm module, the processor, control module, range finder module and alarm module are electrically connected with power module, institute
State control module to electrically connect with range finder module and alarm module, the processor and control module electrical connection, the foot stool include
Support bar and the bar that contacts to earth, the foot stool transmission device include motor.
It is preferred that, the support bar is at least provided with two and for can be with the electric expansion bar of adjustment length, and one end is with contacting to earth
Bar is connected, the other end and motor connection.
It is preferred that, the range finder module at least two and including ultrasonic sensor, infrared sensor and vision sensor
At least one of.
It is preferred that, the alarm module includes siren, and the siren includes buzzer, warning lamp and electronic information hair
Send device.
A kind of unmanned plane landing control method, comprises the following steps：
S101, unmanned plane receives landing instruction and prepares landing；
S102, range finder module detection unmanned plane contacts to earth bar and landing the distance between ground, and by range information send to
Range information is fed back to processor by control module, control module；
S103, processor analysis calculates each distance difference △ L12, △ L13, △ between bar and landing ground that contact to earth
L23 ... △ Ln simultaneously judge whether in the range of pre-determined distance, if each contacting to earth the distance between bar and ground difference pre-
If then landing order is sent to control module, control module control unmanned plane landing by processor in scope；
S104, if each contact to earth the distance between bar and ground difference not within a preset range, processor first by ground not
Ordinary mail breath is embodied by alarm module, and then processor will adjust feedback of the information to control module, control module control electricity
Machine is worked, and adjusts electric expansion bar, makes each bar that contacts to earth poor within a preset range with the distance between ground, S105, and each is touched
With ground distance within a preset range, processor sends landing information to control module, control module control unmanned plane to the thin end of the scroll
Landing.
Beneficial effect using above technical scheme is：A kind of unmanned plane landing control device and method of the present invention, leads to
Range finder module is crossed to measure each contact to earth the distance between bar and ground of unmanned plane, processor analysis range information, when each
Contact to earth bar and ground distance in allowed band when, then landing information is sent to control module, control module control by processor
Unmanned plane landing processed, when there is the bar that partly contacts to earth with ground distance not in allowed band, processor can lead to the uneven information in ground
Alarm module is crossed to embody, and processor will adjust information and be sent to control module, control module controlled motor is rotated, regulation
Electric expansion bar, the distance for the bar that makes to contact to earth is all in allowed band, and then unmanned plane lands, and this invention makes unmanned plane can be not
The emergent landing in smooth ground, it is adaptable to complicated terrain environment, improves the security of unmanned plane.
Brief description of the drawings
Fig. 1 is a kind of unmanned plane landing control device schematic diagram that the present invention is provided.
Fig. 2 is a kind of unmanned aerial vehicle body cut-away view that the present invention is provided.
Fig. 3 is a kind of unmanned plane landing control method flow chart that the present invention is provided.
Fig. 4 is the ranging schematic diagram of the present invention.
Wherein, 1- foot stools transmission device, 11- motors, 2- unmanned aerial vehicle bodies, 21- control modules, 22- range finder modules, 23-
Processor, 24- alarm modules, 25- power modules, 3- foot stools, 31- support bars, 32- contacts to earth bar.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 show the embodiment of the present invention：A kind of unmanned plane landing control device, including
Provided with processor 23, control module 21, survey in unmanned aerial vehicle body 2, foot stool 3 and foot stool transmission device 1, the unmanned aerial vehicle body 2
Away from module 22, power module 25 and alarm module 24, the processor 23, control module 21, range finder module 22 and alarm module
24 are electrically connected with power module 25, and the control module 21 is electrically connected with range finder module 22 and alarm module 24, the place
Reason device 23 and control module 21 are electrically connected, and the foot stool 3 includes support bar 31 and the bar 32 that contacts to earth, and the foot stool transmission device 1 is wrapped
Include motor 11.
In the present embodiment, the support bar 31 is at least provided with two and for can be with the electric expansion bar of adjustment length, one end
Bar 32 is connected with contacting to earth, and the other end is connected with motor 11.
In the present embodiment, the range finder module 22 at least two and including ultrasonic sensor, infrared sensor and vision
At least one of sensor.
In the present embodiment, the alarm module 24 includes siren, and the siren includes buzzer, warning lamp and electronics
Information generator, intuitively sends the uneven information in ground very to user.
A kind of unmanned plane landing control method, comprises the following steps：S101, unmanned plane receives landing instruction and prepares landing；
S102, the detection unmanned plane of range finder module 22 is contacted to earth bar 32 and landing the distance between ground, and range information is sent to control
Range information is fed back to processor 23 by module 21, control module 21；S103, processor 23 analysis calculate each contact to earth bar 32 with
Land distance difference △ L12, △ L13, △ L23 between ground ... △ Ln simultaneously judge whether in the range of pre-determined distance, if
Then landing order is sent to control mould to each the distance between bar 32 and ground difference of contacting to earth by processor 23 within a preset range
Block 21, the control unmanned plane landing of control module 21；S104, if each the distance between bar 32 and ground difference of contacting to earth is not default
In the range of, processor 23 is first embodied the uneven information in ground by alarm module 24, and then processor 23 will adjust information
Control module 21 is fed back to, the controlled motor 11 of control module 21 works, adjust electric expansion bar, make each contact to earth bar 32 and ground
The distance between difference within a preset range, S105, each contacts to earth bar 32 and ground distance within a preset range, and processor 23 will drop
Fall information to send to control module 21, the control unmanned plane landing of control module 21.
Based on a kind of above-mentioned, unmanned plane landing control device and method of structure of the present invention, surveyed by range finder module 22
The distance between each contact to earth bar 32 and ground of amount unmanned plane, the analysis range information of processor 23, when it is each contact to earth bar 32 with
When the distance on ground is in allowed band, then landing information is sent to control module 21 by processor 23, and control module 21 is controlled
Unmanned plane lands, and when there is the bar 32 that partly contacts to earth with ground distance not in allowed band, processor 23 can be by the uneven information in ground
Embodied by alarm module 24, and processor 23 is sent to control module 21 by information is adjusted, control module 21 controls electricity
Machine 11 is rotated, and adjusts electric expansion bar, and the distance for the bar 32 that makes to contact to earth is all in allowed band, and then unmanned plane lands, and this sends out
It is bright make unmanned plane can out-of-flatness ground meet an urgent need landing, it is adaptable to complicated terrain environment, improve the security of unmanned plane.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection domain.
Claims (5)
- The control device 1. a kind of unmanned plane lands, it is characterised in that：It is driven and fills including unmanned aerial vehicle body (2), foot stool (3) and foot stool Put (1), processor (23), control module (21), range finder module (22), power module are provided with the unmanned aerial vehicle body (2) (25) and alarm module (24), the processor (23), control module (21), range finder module (22) and alarm module (24) and Power module (25) is electrically connected with, and the control module (21) electrically connects with range finder module (22) and alarm module (24), described Processor (23) and control module (21) electrical connection, the foot stool (3) include support bar (31) and the bar that contacts to earth (32), the foot stool Transmission device (1) includes motor (11).
- 2. a kind of unmanned plane landing control device according to claim 1, it is characterised in that：The support bar (31) is at least Provided with two and for that can be connected with the electric expansion bar of adjustment length, one end with the bar that contacts to earth (32), the other end connects with motor (11) Connect.
- 3. a kind of unmanned plane landing control device according to claim 1, it is characterised in that：The range finder module (22) is extremely Lack two and including at least one of ultrasonic sensor, infrared sensor and vision sensor.
- 4. a kind of unmanned plane landing control device according to claim 1, it is characterised in that：Alarm module (24) bag Siren is included, the siren includes buzzer, warning lamp and electronic information transmitter.
- The control method 5. a kind of unmanned plane lands, it is characterised in that comprise the following steps：S101, unmanned plane receives landing instruction and prepares landing；S102, range finder module (22) detection unmanned plane is contacted to earth bar (32) and landing the distance between ground, and range information is sent out Control module (21) is delivered to, range information is fed back to processor (23) by control module (21)；S103, processor (23) analysis calculates distance difference △ L12, △ L13, △ between each bar that contacts to earth (32) and landing ground L23 ... △ Ln simultaneously judge whether in the range of pre-determined distance, if each contacting to earth the distance between bar (32) and ground difference Then landing order is sent to control module (21), control module (21) control unmanned plane drop by processor (23) within a preset range Fall；S104, if each contacting to earth the distance between bar (32) and ground difference not within a preset range, processor (23) is first by ground Face injustice information is embodied by alarm module (24), and then processor (23) will adjust feedback of the information to control module (21), control module (21) controlled motor (11) works, and adjusts electric expansion bar, makes each bar that contacts to earth (32) between ground Range difference within a preset range, S105, within a preset range, processor (23) will land for each bar that contacts to earth (32) and ground distance Information is sent to control module (21), control module (21) control unmanned plane landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427892.7A CN107065931A (en) | 2017-06-08 | 2017-06-08 | A kind of unmanned plane landing control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710427892.7A CN107065931A (en) | 2017-06-08 | 2017-06-08 | A kind of unmanned plane landing control device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107065931A true CN107065931A (en) | 2017-08-18 |
Family
ID=59616468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710427892.7A Pending CN107065931A (en) | 2017-06-08 | 2017-06-08 | A kind of unmanned plane landing control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107065931A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754358A (en) * | 2014-01-10 | 2014-04-30 | 深圳市大疆创新科技有限公司 | Method and device for controlling undercarriage of unmanned aerial vehicle |
| CN205168876U (en) * | 2015-11-28 | 2016-04-20 | 郑州大学 | Lift vertically formula unmanned aerial vehicle undercarriage suitable for many topography |
| CN106005377A (en) * | 2016-08-09 | 2016-10-12 | 哈尔滨工业大学（威海） | Unmanned aerial vehicle undercarriage folding/unfolding system and unmanned aerial vehicle |
| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
| CN106064670A (en) * | 2016-06-07 | 2016-11-02 | 南方科技大学 | Unmanned plane and landing method |
-
2017
- 2017-06-08 CN CN201710427892.7A patent/CN107065931A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103754358A (en) * | 2014-01-10 | 2014-04-30 | 深圳市大疆创新科技有限公司 | Method and device for controlling undercarriage of unmanned aerial vehicle |
| CN205168876U (en) * | 2015-11-28 | 2016-04-20 | 郑州大学 | Lift vertically formula unmanned aerial vehicle undercarriage suitable for many topography |
| CN106064670A (en) * | 2016-06-07 | 2016-11-02 | 南方科技大学 | Unmanned plane and landing method |
| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
| CN106005377A (en) * | 2016-08-09 | 2016-10-12 | 哈尔滨工业大学（威海） | Unmanned aerial vehicle undercarriage folding/unfolding system and unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11524596B2 (en) | Monitoring system, base station and control method of a drone | |
| CN104166355B (en) | Electronic unmanned plane and its intelligent power guard method | |
| CN202929383U (en) | Unmanned plane and automatic charging system thereof | |
| CN107264804A (en) | A kind of unmanned vehicle variable rate spray control device and method based on GPS | |
| CN107783552B (en) | Method and device for controlling return flight of unmanned aerial vehicle | |
| CN108760580A (en) | A kind of the gas diffusion hypothetical system and method for dynamic environment monitoring | |
| CN110645901B (en) | Application method of building engineering dynamic monitoring system | |
| KR101655874B1 (en) | Flight management system using smart charge about UAV | |
| CN107976220A (en) | Based on Atmospheric components synchronization detecting system and method under fixed point different height | |
| CN105048533A (en) | Small multi-rotor unmanned aerial vehicle automatic charging system | |
| CN106067760A (en) | A kind of photo-voltaic power supply monitoring system based on cloud platform | |
| US20210101697A1 (en) | Aircraft night flight control method and apparatus, control apparatus, and aircraft | |
| CN107464046A (en) | A kind of Geological Hazards Monitoring assessment system based on unmanned plane | |
| CN113232865B (en) | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision | |
| CN105825676A (en) | Road vehicle running monitoring system based on Internet of things | |
| CN106154271A (en) | A kind of bank base universal class type atmospheric duct monitoring device | |
| CN104787349A (en) | Aircraft safety take-off control method and device | |
| CN104317304B (en) | Microwave guide based fixed-wing unmanned aerial vehicle autonomous landing control device and method | |
| CN108957255A (en) | Localization method based on steering engine for unmanned plane Scanning Detction power line corona | |
| CN107065931A (en) | A kind of unmanned plane landing control device and method | |
| CN206164669U (en) | Unmanned aerial vehicle with follow shooting function | |
| CN205427033U (en) | Unmanned aerial vehicle device and warning circuit thereof | |
| CN109436385A (en) | A kind of automatic debugging system for solar wing simulation wall posture | |
| CN206515697U (en) | A kind of unmanned plane of UAV Flight Control System and the application control system | |
| CN106169713B (en) | A kind of unmanned plane power construction method powered |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170818 |
|
| RJ01 | Rejection of invention patent application after publication |